From 386662106b52ed8d1ffb2df46d220b6a39736855 Mon Sep 17 00:00:00 2001
From: Silvia Cruciani <silviacruciani@google.com>
Date: Thu, 14 Nov 2024 09:40:29 -0800
Subject: [PATCH] Reshape arrays for LQR notebooks for Mujoco sparse2dense

Without reshape the collabs results in an error due to incompatible function arguments

PiperOrigin-RevId: 696554177
Change-Id: Id4317ee6fccbe2ac912af7a8b07228ddebebbbcf
---
 python/LQR.ipynb | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/python/LQR.ipynb b/python/LQR.ipynb
index adee43ed..89767ac9 100644
--- a/python/LQR.ipynb
+++ b/python/LQR.ipynb
@@ -494,10 +494,10 @@
     "actuator_moment = np.zeros((model.nu, model.nv))\n",
     "mujoco.mju_sparse2dense(\n",
     "    actuator_moment,\n",
-    "    data.actuator_moment,\n",
+    "    data.actuator_moment.reshape(-1),\n",
     "    data.moment_rownnz,\n",
     "    data.moment_rowadr,\n",
-    "    data.moment_colind,\n",
+    "    data.moment_colind.reshape(-1),\n",
     ")\n",
     "ctrl0 = np.atleast_2d(qfrc0) @ np.linalg.pinv(actuator_moment)\n",
     "ctrl0 = ctrl0.flatten()  # Save the ctrl setpoint.\n",